#ifndef ARM_H
#define ARM_H

#include "DM/J4310.h"
using MM::J4310;
using std::optional,std::nullopt;
using std::array;

class Arm {
public:
    static Arm &getInstance();

    void posControl(float r1 = 0, float r2 = 0, float r3 = 0);

    Arm(Arm &) = delete;

    Arm(Arm &&) = delete;

    Arm &operator=(Arm &) = delete;

    Arm &operator=(Arm &&) = delete;

private:
    J4310 j4310_r1;
    J4310 j4310_r2;
    J4310 j4310_r3;

    static Arm _instance;

    Arm();
};


#endif //ARM_H
